ビジュアルフィードバックによる自動操舵制御系の設計—ラジコンカーによるシステム同定と制御実験—

抄録

Advanced safety vehicle(ASV)assists drivers’ manipulation to avoid trafic accidents. A variety of researches on automatic driving systems are necessary as an element of ASV. Among them, we focus on visual feedback approach in which the automatic driving system is realized by recognizing road trajectory using image information. The purpose of this paper is to examine the validity of this approach by experiments using a radio-controlled car. First, a practical image processing algorithm to recognize white lines on the road is proposed. Second, a model of the radio-controlled car is built by system identication experiments. Third, an automatic steering control system is designed based on H_∞ control theory. Finally, the effectiveness of the designed control system is examined via traveling experiments.